image_plane = np.zeros((h, w, 3), np.uint8)
#image_plane= img.create_img()
[match.global_kpts1, match.global_kpts2] = vo.EstimateF_multiprocessing(match.global_kpts1, match.global_kpts2)
print vo.F
print len(match.global_kpts1)
l1 = len(match.global_kpts1)
image_plane = match.draw_matches_np(image_plane, match.global_kpts1, match.global_kpts2)
image_plane = match.draw_outliers_np(image_plane, vo.outlier_points_new, vo.outlier_points_prev)
cv2.namedWindow('Image', cv2.WINDOW_NORMAL)
cv2.imshow('Image', image_plane)
cv2.waitKey(0)
cv2.destroyAllWindows()
#print "puntos deshechados", vo.outlier_points_new[:10]
img.invariant_image = match.draw_matches_np(img.invariant_image, match.global_kpts1, match.global_kpts2)
img.invariant_image = match.draw_outliers_np(img.invariant_image, vo.outlier_points_new, vo.outlier_points_prev)
plt.imshow(img.invariant_image, cmap='gray', interpolation = 'bicubic')
plt.show()
match.global_kpts1 = np.reshape(match.global_kpts1, (len(match.global_kpts1), 2))
match.global_kpts2 = np.reshape(match.global_kpts2, (len(match.global_kpts2), 2))
